加速度センサを用いた柔軟触覚センサの開発

抄録

This paper deals with the design, fabrication and results of preliminary experiments of a soft tactile sensor which is morphologically changeable. We are aiming at detecting the location of a sliding movement by the sensor system. We fabricated sensor consisting of a silicone rubber base with a chamber and a thin silicone rubber skin covering the chamber. A three-axis accelerometer is embedded in the silicone rubber skin. The sensor surface inflates when pressurizing the chamber by syringe, changing the accelerometer’s posture and its output voltage. Then, we conducted preliminary experiments to assess its ability. We let an indenter slide on the surface of the skin. From the obtained data of the accelerometer, we concluded that we can judge the location of the sliding movement of an object based on the graph patterns.